WO2024244052A1 - Novel diagnosis and treatment device and diagnosis and treatment system - Google Patents

Abstract

The present application discloses a novel diagnosis and treatment device and a diagnosis and treatment system. The novel diagnosis and treatment device comprises a base body, a flexible structure, and a functional assembly; the flexible structure comprises at least one elastic unit; each elastic unit comprises two connecting pieces and at least two branch chains; the at least two branch chains are arranged in parallel, and the two ends of the at least two branch chains are connected by means of the connecting pieces respectively; one end of the flexible structure is connected to the base body by means of one connecting piece, and the other end of the flexible structure is connected to the functional assembly by means of one connecting piece; the novel diagnosis and treatment device has a first state in which the axial direction of the flexible structure is parallel to the axial direction of the base body and a second state in which the axial direction of the flexible structure is not parallel to the axial direction of the base body; in the first state, the branch chains of the at least one elastic unit extend or contract at the same time; and in the second state, the branch chains of the at least one elastic unit can deform and bend.

Description

New diagnostic and treatment devices and systems

This application claims priority to Chinese patent application No. 202310651996.1 filed on June 2, 2023, the entire contents of which are incorporated by reference into this application.

Technical Field

The present application relates to the technical field of medical devices, and in particular to a novel diagnostic and treatment device and a diagnostic and treatment system using the novel diagnostic and treatment device.

Background Art

Endoscope is a kind of detection equipment integrating optics, ergonomics, precision machinery and other technologies. It can be used to observe some lesions of tissues in the body. As an indispensable medical diagnostic and surgical equipment, it is widely used in the examination and treatment of various diseases in internal medicine, respiratory medicine, otolaryngology, orthopedics, and urology. For example, it is widely used in the examination, diagnosis, and treatment of anorectal, esophageal, stomach, otolaryngology and other parts of the human body. Due to its advantages such as intuitive observation, accurate results, and little damage to tissues, it has become an indispensable means in modern medicine.

Endoscopes can be divided into hard endoscopes and flexible endoscopes according to whether the endoscope body can change direction. Commonly used endoscopes such as colonoscopes, laryngoscopes and gastroscopes are generally flexible endoscopes. Their biggest feature is that the lens part can be manipulated by the user to change direction, and the field of view is more flexible. After analyzing the existing flexible soft endoscopes, it can be found that the existing designs can achieve limited active adjustment of the endoscope head. The elasticity of the flexible soft endoscope can achieve a certain degree of passive buffering, but the endoscope head does not have an active and flexible buffering function, and its ability to reduce the chance of tissue puncture and patient discomfort is limited. In addition, the complexity of the human body cavity leads to the existence of blind spots in the vision of some endoscopes, which poses certain risks.

In the prior art, in order to increase the visual range of the endoscope and reduce damage to the patient's cavity, the concept of a flexible endoscope is proposed, which can be bent and deformed at the end of the instrument. At present, a continuum composed of parallel metal rings connected in series with springs is used for rope traction drive control. By changing the traction force of the three traction ropes respectively, the bending control in three-dimensional space is realized. This rope traction continuum mechanism improves the bending angle and the number of degrees of freedom at the end, but there are still problems such as a large turning radius and a small deformation curvature (turning radius/external diameter of the mirror), and it is unable to handle cavity environments with small diameter corners such as the maxillary sinus ostium. At the same time, the end degrees of freedom of existing endoscopes do not exceed 3, and the telescopic range of the continuum affects the turning radius and deformation curvature, limiting the visual range of the endoscope.

Technical issues

The main purpose of this application is to provide a new diagnostic and treatment device and a diagnostic and treatment system, aiming to provide a new diagnostic and treatment device capable of multi-degree-of-freedom movement and large curvature bending, the new diagnostic and treatment device has a large reachable range and visible range, high safety, low invasiveness, and a bending radius less than or equal to the overall bending of the flexible structure.

Technical Solutions

To achieve the above objectives, the present application proposes a novel diagnostic and treatment device, which comprises:

matrix;

A flexible structure, wherein the flexible structure comprises at least one elastic unit, each of the elastic units comprises two connecting members and at least two branches, the at least two branches are arranged in parallel, and the two ends of the at least two branches are respectively connected by the connecting members, and one end of the flexible structure is connected to the base through one of the connecting members; and

A functional component, wherein the other end of the flexible structure is connected to the functional component via a connecting member;

The novel diagnostic and treatment device has a first state in which the axial direction of the flexible structure is parallel to the axial direction of the substrate and a second state in which the axial direction of the flexible structure is not parallel to the axial direction of the substrate;

In the first state, the branches of at least one of the elastic units are extended or contracted simultaneously;

In the second state, the branch of at least one of the elastic units can be deformed and bent.

In one embodiment, each of the elastic units includes a plurality of the branches, and two ends of the plurality of the branches are respectively connected by a connecting member;

The multiple branches are arranged in parallel and spaced apart along a straight line; or, the multiple branches are arranged in parallel and spaced apart along an arc; or, the multiple branches are arranged in parallel and spaced apart in a circle or annular shape.

In one embodiment, each of the branch chains is in the shape of a tube with openings at both ends, and each of the connecting members is provided with a limiting protrusion at the opening corresponding to each of the branch chains. The limiting protrusion is accommodated and limited in the opening so that one end of each of the branch chains is connected to one of the connecting members.

In one embodiment, each of the branches comprises:

An elastic support body, wherein the elastic support body has a cavity;

An elastic film, the elastic film being coated on the outer side of the elastic support body; and

A reinforcing layer is embedded in the elastic film.

In one embodiment, the elastic film includes a first flexible elastic film and a second flexible elastic film which are stacked, and the reinforcement layer is sandwiched between the first flexible elastic film and the second flexible elastic film.

In one embodiment, the reinforcement layer is a strain limiting material or structure;

Or, the reinforcement layer is formed by fibers, threads or ropes spirally wound around the first flexible elastic film;

Alternatively, the reinforcement layer includes two fibers, threads or ropes, and the two fibers, threads or ropes are spirally wound on the first flexible elastic film with a phase difference of 180°.

In one embodiment, the elastic support body is arranged in a spiral structure;

And/or, the elastic support body is a spring;

And/or, the elastic film is made of at least one of PDMS, silicone rubber, Shore A-10 silicone resin, and silicone resin material.

In one embodiment, each of the limiting protrusions is provided with a limiting groove, and the end of the elastic support body is limited in the limiting groove;

And/or, the limiting protrusion is provided with a fixing hole, the end of the elastic support body is provided with a fixing column, and the fixing column is inserted into the fixing hole;

And/or, the connecting member is provided with a through hole corresponding to the cavity of each branch chain, and the through hole passes through the limiting protrusion;

And/or, each of the connecting members is provided with a wire passing hole, and the plurality of branch chains are arranged around the wire passing hole, so that the plurality of branch chains enclose and form a wire passing cavity connected to the wire passing hole.

In one embodiment, the flexible structure includes a plurality of the elastic units, and two adjacent elastic units are connected by the connecting member, so that the plurality of elastic units are arranged in series.

In one embodiment, two adjacent elastic units are connected via a connecting member;

Alternatively, two adjacent elastic units are detachably connected via two connecting members.

In one embodiment, the base is a rigid or flexible tube, one end of the tube is provided with a limiting hole, the connecting piece at one end of the elastic unit is provided with a fixing protrusion, and the fixing protrusion is penetrated into the limiting hole so that the connecting piece is connected to the tube;

And/or, the connector is a rigid connector or a hard connector;

And/or, the functional components include at least one of an imaging system, ultrasound, a targeted treatment head, an endoscope, scissors, and tissue forceps.

The present application also proposes a diagnosis and treatment system, which includes an equipment body and the novel diagnosis and treatment device described above, wherein a base of the novel diagnosis and treatment device is connected to the equipment body.

Beneficial Effects

The novel diagnosis and treatment device of the technical solution of the present application is provided with a flexible structure on a base, and the functional component is provided at one end of the flexible structure away from the base, so that the flexible structure is used to drive the functional component to realize multi-degree-of-freedom movement; at the same time, by providing the flexible structure to include at least one elastic unit, each elastic unit includes two connecting pieces and at least two branches, the at least two branches are provided in parallel, and the two ends of the at least two branches are respectively connected by connecting pieces, so that the multiple branches are connected in parallel and fixed in series by the connecting pieces, so that the novel diagnosis and treatment device has a first state in which the axial direction of the flexible structure is parallel to the axial direction of the base (i.e., telescopic) and In the second state, the axial direction of the flexible structure is not parallel to the axial direction of the base (i.e., achieving bending deformation), so that the multiple branches can achieve both extension and retraction, that is, in the first state, the multiple branches of at least one elastic unit extend or contract simultaneously, and can achieve bending deformation, that is, in the second state, the multiple branches of at least one elastic unit can be deformed and bent, and the multiple branches are limited in series by the connecting parts during bending deformation, so that the bending radius is less than or equal to the overall bending of the flexible structure, so that the multiple branches can cooperate to perform multi-degree-of-freedom motion and large curvature bending, so that the functional components of the new diagnostic and treatment device have a larger reach and visible range, higher safety, and less invasiveness.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

FIG1 is a schematic diagram of the structure of a novel diagnostic and treatment device in one embodiment of the present application;

FIG2 is an exploded schematic diagram of a novel diagnostic and treatment device in one embodiment of the present application;

FIG3 is a schematic structural diagram of an elastic unit in a first state according to an embodiment of the present application;

FIG4 is a schematic structural diagram of an elastic unit in a second state according to an embodiment of the present application;

FIG5 is a partially exploded schematic diagram of an elastic unit in one embodiment of the present application;

FIG6 is a partial cross-sectional schematic diagram of an elastic unit in one embodiment of the present application;

FIG7 is a partial cross-sectional schematic diagram of an elastic film and a reinforcing layer in one embodiment of the present application;

FIG. 8 is a schematic diagram of the structure of a connecting member in an embodiment of the present application.

Description of Figure Numbers:

Label name Label name 100 New diagnostic and treatment devices 212 Branch Chain 1 Matrix 2121 Opening 11 Limit hole 2122 Cavity 2 Flexible structure 2123 Elastic support twenty one Elastic unit 2124 Fixed column 211 Connectors 2125 Elastic film 2111 Limiting protrusion 2126 The first flexible film 2112 Limit slot 2127 Second flexible film 2113 Fixing holes 2128 Reinforcement layer 2114 Through Hole 213 Wire cavity 2115 Cable hole 3 Functional Components 2116 Fixed protrusion    

The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings.

Embodiments of the present invention

The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

At the same time, the meaning of "and/or" or "and/or" appearing in the full text includes three options. Taking "A and/or B" as an example, it includes option A, or option B, or a option in which both A and B are satisfied.

In addition, in this application, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

Endoscope is a kind of detection equipment integrating optics, ergonomics, precision machinery and other technologies. It can be used to observe some lesions of tissues in the body. As an indispensable medical diagnostic and surgical equipment, it is widely used in the examination and treatment of various diseases in internal medicine, respiratory medicine, otolaryngology, orthopedics, and urology. For example, it is widely used in the examination, diagnosis, and treatment of anorectal, esophageal, stomach, otolaryngology and other parts of the human body. Due to its advantages such as intuitive observation, accurate results, and little damage to tissues, it has become an indispensable means in modern medicine.

Endoscopes can be divided into hard endoscopes and flexible endoscopes according to whether the endoscope body can change direction. Commonly used endoscopes such as colonoscopes, laryngoscopes and gastroscopes are generally flexible endoscopes. Their biggest feature is that the lens part can be manipulated by the user to change direction, and the field of view is more flexible. After analyzing the existing flexible soft endoscopes, it can be found that the existing designs can achieve limited active adjustment of the endoscope head. The elasticity of the flexible soft endoscope can achieve a certain degree of passive buffering, but the endoscope head does not have an active and flexible buffering function, and its ability to reduce the chance of tissue puncture and patient discomfort is limited. In addition, the complexity of the human body cavity leads to the existence of blind spots in the vision of some endoscopes, which poses certain risks.

In the prior art, in order to increase the visual range of the endoscope and reduce damage to the patient's cavity, the concept of a flexible endoscope is proposed, which can be bent and deformed at the end of the instrument. At present, a continuum composed of parallel metal rings connected in series with springs is used for rope traction drive control. By changing the traction force of the three traction ropes respectively, the bending control in three-dimensional space is realized. This rope traction continuum mechanism improves the bending angle and the number of degrees of freedom at the end, but there are still problems such as a large turning radius and a small deformation curvature (turning radius/external diameter of the mirror), and it is unable to handle cavity environments with small diameter corners such as the maxillary sinus ostium. At the same time, the end degrees of freedom of existing endoscopes do not exceed 3, and the telescopic range of the continuum affects the turning radius and deformation curvature, limiting the visual range of the endoscope.

Based on the above ideas and problems, the present application proposes a new diagnostic and treatment device 100. The new diagnostic and treatment device 100 solves the problem of large turning radius and small deformation curvature of the current functional component by setting a flexible structure 2 between the base 1 and the functional component 3. It can be understood that the new diagnostic and treatment device 100 can also replace the functional component 3 with corresponding functional equipment according to needs, such as at least one of an imaging system, ultrasound, a targeted treatment head, an endoscope, scissors, and tissue forceps, etc., to improve the flexibility of the terminal surgical instrument, which is not limited here.

Please refer to Figures 1 to 8. In an embodiment of the present application, the new diagnostic and treatment device 100 includes a base 1, a flexible structure 2 and a functional component 3. The flexible structure 2 includes at least one elastic unit 21. Each elastic unit 21 includes two connecting pieces 211 and at least two branches 212. The at least two branches 212 are arranged in parallel, and the two ends of the at least two branches 212 are respectively connected by the connecting piece 211. One end of the flexible structure 2 is connected to the base 1 through a connecting piece 211, and the other end of the flexible structure 2 is connected to the functional component 3 through a connecting piece 211. The new diagnostic and treatment device 100 has a first state in which the axial direction of the flexible structure 2 is parallel to the axial direction of the base 1 and a second state in which the axial direction of the flexible structure 2 is not parallel to the axial direction of the base 1. In the first state, the branches 212 of at least one elastic unit 21 are stretched or contracted at the same time. In the second state, the branches 212 of at least one elastic unit 21 can be deformed and bent.

In this embodiment, the base 1 of the novel diagnostic and treatment device 100 is used to install, fix and connect components such as the flexible structure 2 and the functional component 3, that is, the base 1 provides an installation base for components such as the flexible structure 2 and the functional component 3. It can be understood that the base 1 can be a shell-like structure, a platform-like structure or a tubular structure, which is not limited here. In one embodiment, the base 1 is a rigid or flexible catheter. The base 1 has a cavity or a hollow structure, and the cavity or the hollow structure of the base 1 is used to accommodate and protect the connection structure, line or pipeline structure used to install or connect the flexible structure 2 and the functional component 3, which is not limited here.

It can be understood that by utilizing the flexible structure 2 to connect the functional component 3 with the base 1, the flexible structure 2 can be utilized to drive the functional component 3 to extend, retract, and bend. In this way, the new diagnostic and treatment device 100 can change the direction of the functional component 3 by manipulation, thereby increasing the field of view of the functional component 3 and making the field of view of the functional component 3 more flexible so as to be suitable for the complex structure of the human body cavity.

In this embodiment, as shown in FIG. 1 to FIG. 4 , by configuring the flexible structure 2 to be composed of one or more elastic units 21 , it can be designed according to actual needs, thereby making the novel diagnostic and treatment device 100 suitable for use in different complex environments. It can be understood that by setting each elastic unit 21 as two connecting members 211 and at least two branches 212, at least two branches 212 are arranged in parallel, and the two ends of at least two branches 212 are respectively connected by connecting members 211, so that multiple branches 212 are arranged in parallel and fixed in series as a whole through connecting members 211. In this way, one end of the flexible structure 2 is connected to the base 1 as a whole through a connecting member 211, and the other end of the flexible structure 2 is connected to the functional component 3 as a whole through a connecting member 211. That is, the flexible structure 2 can integrate multiple branches 212 of the elastic unit 21 into an overall hybrid mechanism of parallel and series structure through the connecting member 211. In this way, an action is split into the superposition of the extension and bending actions of different parallel branches 212 through the hybrid mechanism of parallel and series, so that when the hybrid mechanism of the same length is bent, the hybrid structure bending unit is a single parallel structure, the bending radius is smaller than the overall bending of the hybrid mechanism, and the deformation curvature is large, thereby increasing the visual range of the functional component 3.

In one embodiment, the connector 211 is a rigid connector or a hard connector. For example, the connector 211 is a plastic part made of hard plastic injection molding, or a metal part made of metal material, etc., which is not limited here.

In this embodiment, the functional component 3 includes at least one of an imaging system, ultrasound, a targeted treatment head, an endoscope, scissors, and a tissue forceps. It is understandable that, according to different functional components 3, the novel diagnostic and treatment device 100 can be used for inspection and/or treatment, etc., which is not limited here.

It should be noted that the functional component 3 can be an existing endoscope structure, which will not be described in detail here. Of course, in other embodiments, the functional component 3 can also be set as an imaging system, ultrasound, targeted treatment head, scissors, tissue clamps and other functional equipment, or the imaging system, ultrasound, targeted treatment head, scissors or tissue clamps and other functional equipment can be assembled together with the endoscope at one end of the flexible structure 2, and the specific selection can be made according to the need to improve the flexibility and versatility of the terminal surgical instrument.

The novel diagnostic and treatment device 100 of the present application is provided with a flexible structure 2 on a base 1, and a functional component 3 is provided at one end of the flexible structure 2 away from the base 1, so that the flexible structure 2 is used to drive the functional component 3 to realize multi-degree-of-freedom movement; at the same time, by providing the flexible structure 2 to include at least one elastic unit 21, each elastic unit 21 includes two connecting members 211 and at least two branches 212, and the at least two branches 212 are provided in parallel, and the two ends of at least two branches 212 are respectively connected by connecting members 211, so that the multiple branches 212 are connected in parallel and fixed in series by the connecting members 211, so that the novel diagnostic and treatment device 100 has a first state in which the axial direction of the flexible structure 2 is parallel to the axial direction of the base 1 (i.e., telescopic) and a first state in which the axial direction of the flexible structure 2 is parallel to the axial direction of the base 1 (i.e., telescopic) and a second state in which the axial direction of the flexible structure 2 is parallel to the axial direction of the base 1. The second state is not parallel to the axial direction of the base 1 (that is, to achieve bending deformation), so that the multiple branches 212 can achieve extension and retraction, that is, in the first state, the multiple branches 212 of at least one elastic unit 21 extend or contract at the same time, and can also achieve bending deformation, that is, in the second state, the multiple branches 212 of at least one elastic unit 21 can be deformed and bent, and the multiple branches 212 are limited in series by the connecting piece 211 during bending and deformation, so that the bending radius is less than or equal to the overall bending of the flexible structure 2, so that the multiple branches 212 can cooperate to perform multi-degree-of-freedom movement and large curvature bending, so that the functional component 3 of the new diagnostic and treatment device 100 has a larger reachable range and visible range, high safety, and low invasiveness, so as to achieve a high axial extension multiple and a large bending deformation curvature of the new diagnostic and treatment device 100.

In one embodiment, each elastic unit 21 includes a plurality of branches 212, and the two ends of the plurality of branches 212 are respectively connected by a connecting piece 211. It is understandable that the number of the branches 212 can be two, three, four, five, six or more, which is not limited here. The same end of the plurality of branches 212 is connected to a connecting piece 211, and the other ends of the plurality of branches 212 are connected to a connecting piece 211.

It should be noted that the number of branches 212 in the elastic unit 21 can be determined according to the physiological characteristics of the target cavity, and is suitable for various cavities of the human body, with greater adaptability and safety.

In this embodiment, one end of the flexible structure 2 is connected to the base 1 through the connector 211 , and the other end of the flexible structure 2 is connected to the functional component 3 through the connector 211 , so as to realize the connection between the base 1 and the functional component 3 .

It can be understood that the multiple branches 212 of each elastic unit 21 of the flexible structure 2 are arranged in parallel, that is, the multiple branches 212 are arranged in parallel. In one embodiment, the multiple branches 212 are arranged in parallel and arranged at intervals along a straight line, that is, in the first state, the axial directions of the multiple branches 212 are arranged in parallel, and the multiple branches 212 are arranged at intervals along a straight line direction perpendicular to the axial direction of the branches 212. Of course, according to actual needs, the multiple branches 212 can also be arranged in parallel and arranged at intervals along an arc. At this time, in the first state, the axial directions of the multiple branches 212 are arranged in parallel, and the multiple branches 212 are arranged at intervals along a curve or arc line direction perpendicular to the axial direction of the branches 212. In other embodiments, the multiple branches 212 can also be arranged in parallel and arranged at intervals in a circular or annular shape. At this time, in the first state, the axial directions of the multiple branches 212 are arranged in parallel, and the multiple branches 212 are enclosed to form a circle or annular shape or similar to the multiple branches 212 to form a wire harness, which is not limited here.

In one embodiment, each branch chain 212 is arranged in a cylindrical shape with openings 2121 at both ends, and each connecting member 211 is provided with a limiting protrusion 2111 at the opening 2121 corresponding to each branch chain 212. The limiting protrusion 2111 is accommodated and limited in the opening 2121 so that one end of each of the branch chains 212 is connected to a connecting member 211.

In this embodiment, as shown in FIGS. 1 to 6 , by setting the branch chain 212 as a cylindrical setting with openings 2121 at both ends, it is convenient for the flexible structure 2 to drive the functional component 3 into the target cavity, and it is convenient to use the cylindrical cavity of the branch chain 212 to accommodate the circuit of the functional component 3 or other components of the novel diagnosis and treatment device 100, and it is convenient for the flexible structure 2 to achieve expansion and contraction and bending deformation. It can be understood that the expansion and contraction and bending deformation of the flexible structure 2 can be achieved by a traction rope or inflation and deflation, etc., and the specifics can be referred to the prior art and are not limited here.

It can be understood that by providing a limiting protrusion 2111 on the connecting member 211, the limiting protrusion 2111 can be accommodated and limited in the opening 2121, so that the connecting member 211 is connected to the branch chain 212. In this embodiment, a plurality of spaced limiting protrusions 2111 are provided on the connecting member 211, and each limiting protrusion 2111 cooperates with the opening 2121 of a branch chain 212, so that one end of a plurality of branch chains 212 is connected to a connecting member 211, thereby realizing that a plurality of branch chains 212 arranged in parallel are fixed in series through the connecting member 211.

In one embodiment, each branch chain 212 includes an elastic support body 2123 , an elastic film 2125 and a reinforcing layer 2128 , wherein the elastic support body 2123 has a cavity 2122 , the elastic film 2125 is coated on the outer side of the elastic support body 2123 , and the reinforcing layer 2128 is embedded in the elastic film 2125 .

In this embodiment, as shown in FIGS. 5 to 7 , an elastic support body 2123 is provided inside the elastic film 2125 of the branch chain 212, so that the elastic support body 2123 provides support for the elastic film 2125 of the branch chain 212 during the expansion and contraction and bending deformation process, thereby preventing the elastic film 2125 from deforming and bulging toward the cavity 2122. It can be understood that by providing a reinforcing layer 2128 and embedding the reinforcing layer 2128 in the elastic film 2125, a limiting effect is provided during the expansion and contraction and bending deformation process of the elastic film 2125, thereby preventing the elastic film 2125 from deforming and bulging in the radial direction of the outer wall.

In one embodiment, the elastic support body 2123 is arranged in a spiral structure. In this embodiment, the elastic film 2125 is coated on the outer wall of the spiral structure, so that the elastic film 2125 cooperates with the spiral structure to form a cavity 2122 structure with openings 2121 at both ends. In one embodiment, the elastic support body 2123 is a spring, which is arranged in a spiral structure, so that the spring can be used to support the elastic film 2125, and the spring can be used for elastic deformation, and the spring can also be used to facilitate the flexible structure 2 to drive the functional component 3 into the target cavity, which is not limited here.

In one embodiment, as shown in FIGS. 5 to 7 , the elastic film 2125 includes a first flexible elastic film 2126 and a second flexible elastic film 2127 which are stacked, and the reinforcing layer 2128 is sandwiched between the first flexible elastic film 2126 and the second flexible elastic film 2127 .

In one embodiment, the elastic film 2125 is made of at least one of PDMS, silicone rubber, Shore A-10 silicone resin, and silicone resin material. It is understandable that by making the elastic film 2125 of a flexible or elastic material, the flexible structure 2 can be easily extended and bent, so that the new diagnostic and treatment device 100 is suitable for complex cavity environments.

In this embodiment, the reinforcing layer 2128 is a strain limiting material or structure, and the reinforcing layer 2128 is used to limit the radial expansion of the elastic film 2125. In one embodiment, the material of the reinforcing layer 2128 can be selected from fibers, wires or ropes, and the fibers are reinforcing fibers, etc. The reinforcing layer 2128 is formed by spirally winding the fibers, wires or ropes on the first flexible elastic film 2126. Of course, in other embodiments, the reinforcing layer 2128 includes two fibers, wires or ropes, and the two fibers, wires or ropes are spirally wound on the first flexible elastic film 2126 with a phase difference of 180°.

In one embodiment, as shown in FIG5 , the branch chain 212 can be processed and manufactured in the following manner: a fiber-reinforced flexible elastic thin-walled tube structure is manufactured by a spin casting process, the connector 212 and the elastic support body 2123 of the spiral structure are placed in a mold, paraffin is injected, and the wax mold casting is completed; then, the lower half of the wax column is immersed in a flexible elastic liquid pool in an appropriate proportion, and the wax column is rotated at a constant speed to obtain a uniform flexible elastic film, i.e., a first flexible elastic film 2126; 1 Two reinforcing fibers are wound with a 80° phase difference spiral; then, in the same way, they are immersed in a soft elastic body fluid pool in a suitable proportion, and the wax column is rotated to form a second soft elastic film 2127 on the first soft elastic film 2126 and the reinforcing layer 2128, that is, the reinforcing layer 2128 is sandwiched between the first soft elastic film 2126 and the second soft elastic film 2127, or the reinforcing layer 2128 is embedded in the elastic film 2125; finally, the paraffin is melted and flows out, thereby completing the production of a single branch chain 212. Of course, the branch chain 212 can also be produced in other ways, which are not limited here.

In one embodiment, as shown in Figures 5 and 6, each limiting protrusion 2111 is provided with a limiting groove 2112, and the end of the elastic support body 2123 is limited in the limiting groove 2112. It can be understood that by providing the limiting groove 2112 on the limiting protrusion 2111 of the connecting member 211, it is convenient to use the limiting groove 2112 to install the limiting elastic support body 2123, so that the connection stability between the connecting member 211 and the branch chain 212 can be provided, and the branch chain 212 can be easily processed.

In one embodiment, as shown in Figures 5 and 6, the limiting protrusion 2111 is provided with a fixing hole 2113, and the end of the elastic support body 2123 is provided with a fixing column 2124, and the fixing column 2124 is inserted into the fixing hole 2113. It can be understood that by providing the fixing column 2124 at the end of the elastic support body 2123, the limiting cooperation between the fixing column 2124 and the fixing hole 2113 is utilized, thereby further improving the connection stability between the elastic support body 2123 and the connecting member 211.

It can be understood that the fixing hole 2113 is connected to the limiting groove 2112, that is, the spring end of the spiral structure is limited in the limiting groove 2112, and is further inserted into the fixing hole 2113 through the fixing column 2124, thereby realizing double limiting and fixing, and improving the connection stability between the elastic support body 2123 and the connecting member 211.

In one embodiment, as shown in FIG5 , the connecting member 211 is provided with a through hole 2114 corresponding to the cavity 2122 of each branch chain 212, and the through hole 2114 penetrates the limiting protrusion 2111. In this embodiment, by providing the through hole 2114 on the connecting member 211, when the connecting member 211 is connected to the branch chain 212 through the limiting protrusion 2111, the through hole 2114 is communicated with the cavity 2122 of the branch chain 212, and when the branch chain 212 is manufactured, the through hole 2114 can be used to limit and position the ceramic tube that assists in the manufacture to ensure the processing and manufacturing of the branch chain 212, and after the branch chain 212 is manufactured and formed, the through hole 2114 can be used to cooperate with the inflation and deflation structure to realize the operation control of the expansion and contraction and bending deformation of the branch chain 212.

It is understandable that the through hole 2114 on the connector 211 is also used to provide installation and avoidance for other components, which is not limited here. It should be noted that the through hole 2114 is hidden or omitted in Figures 1 to 4, 6 and 8 of this embodiment, which is not limited here. In this embodiment, the connector 211 is provided with a plurality of through holes 2114, the plurality of through holes 2114 are arranged at intervals, and the plurality of through holes 2114 are arranged in a one-to-one correspondence with the plurality of branch chains 212, which is not limited here.

In one embodiment, as shown in Fig. 2 to Fig. 4 and Fig. 8, each connector 211 is provided with a wire hole 2115, and a plurality of branches 212 are arranged around the wire hole 2115, so that the plurality of branches 212 enclose a wire cavity 213 connected to the wire hole 2115. It can be understood that the arrangement of the wire hole 2115 is conducive to routing the lines of the functional component 3, etc., which can avoid the clutter of the lines of the functional component 3, and can also protect the lines and improve the appearance.

It can be understood that the wire passing hole 2115 of the connecting member 211 is spaced from the limiting protrusion 2111. In one embodiment, a plurality of limiting protrusions 2111 of the connecting member 211 are arranged around the wire passing hole 2115. In this embodiment, the connecting member 211 can be disc-shaped or polygonal, or the corresponding plurality of branches 212 can be arranged in a petal shape, which is not limited here.

In this embodiment, after the multiple branches 212 are connected to the connecting piece 211 through the multiple limiting protrusions 2111, the multiple branches 212 are arranged around the wire passing hole 2115, and enclosed to form a wire passing cavity 213 connected to the wire passing hole 2115. In this way, the wire passing cavity 213 can be used to provide a wire passing space for the line, and the wire passing hole 2115 on the connecting piece 211 can be used to realize the centralized positioning and wire straightening functions for the line.

In one embodiment, the flexible structure 2 includes a plurality of elastic units 21 , and two adjacent elastic units 21 are connected via a connecting member 211 , so that the plurality of elastic units 21 are arranged in series.

In this embodiment, as shown in Figures 1 and 2, the flexible structure 2 is composed of multiple elastic units 21 connected end to end in sequence to form a series connection structure, that is, in the first state, the multiple elastic units 21 are connected in sequence along the same axial direction, and two adjacent elastic units 21 are connected by a connecting member 211.

In one embodiment, two adjacent elastic units 21 are connected by a connecting member 211. In this embodiment, the branches 212 of two adjacent elastic units 21 are connected by a connecting member 211, and the opposite sides of the connecting member 211 are respectively provided with limiting protrusions 2111 corresponding to the branches 212 of the two elastic units 21.

In one embodiment, two adjacent elastic units 21 are detachably connected via two connecting members 211. In this embodiment, the branches 212 of two adjacent elastic units 21 are connected via two connecting members 211, where one end of the branch 212 of one elastic unit 21 is connected to the connecting member 211, and one end of the branch 212 of the other elastic unit 21 is connected to the connecting member 211, and when the two elastic units 21 are connected in series, the side of the connecting member 211 of one elastic unit 21 facing away from the branch 212 is connected to the side of the connecting member 211 of the other elastic unit 21 facing away from the branch 212.

It is understandable that the two connectors 211 can be fixedly connected by welding or bonding, which can improve the connection stability. Of course, the two connectors 211 can also be detachably connected by snap connection, plug-in fit, screw connection, pin connection, threaded connection or magnetic connection, so that the elastic unit 21 can be disassembled and assembled according to actual needs to adjust the length of the flexible structure 2, which is not limited here.

In one embodiment, the number of elastic units 21 in the flexible structure 2 can be one, two, three, four, five, six or more, etc., which is not limited here. In this embodiment, the number of elastic units 21 in the flexible structure 2 can be customized according to the cavity characteristics of the cavity to be observed. In one embodiment, when the number of elastic units 21 in the flexible structure 2 is three, a rigid connector 211 is used to combine to form a series structure, which can realize the expansion and contraction and bending deformation of the flexible structure 2. Each elastic unit 21 can realize axial expansion and contraction deformation, and the multiple parallel branches 212 in each elastic unit 21 are fixed in series through the rigid connector 211, so that the flexible structure 2 can move with multiple degrees of freedom, with a large reachable range and visible range, high safety and low invasiveness. At the same time, the flexible structure 2 can adapt to various types of complex cavities by modifying the number of parallel structure groups according to the cavity characteristics, and has universality.

In one embodiment, the base 1 is a rigid or flexible tube, a limiting hole 11 is provided at one end of the tube, a connecting piece 211 at one end of an elastic unit 21 is provided with a fixing protrusion 2116, and the fixing protrusion 2116 is passed through the limiting hole 11 to connect the connecting piece 211 to the tube.

In this embodiment, as shown in FIG. 1 and FIG. 2 , by setting the base 1 as a rigid or flexible catheter structure, the tubular cavity of the tube body is used to provide an installation space for the circuit, gas path or other structures of the novel diagnosis and treatment device 100, thereby achieving protection and improving the appearance of the novel diagnosis and treatment device 100. It can be understood that by setting a limiting hole 11 connected to the catheter cavity at one end of the base 1, and setting a fixing protrusion 2116 on the connecting piece 211 connected to the base 1 in the flexible structure 2, the fixing protrusion 2116 is penetrated in the limiting hole 11, so that the connecting piece 211 is connected to the base 1.

It can be understood that the fixing protrusion 2116 and the limiting hole 11 can be fixedly connected by welding or bonding, or can be detachably connected by means of snap connection, plug-in fitting, threaded connection, magnetic connection, screw connection or pin connection, which is not limited here.

The present application also proposes a diagnosis and treatment system, which includes an equipment body and the above-mentioned novel diagnosis and treatment device 100, wherein the base 1 of the novel diagnosis and treatment device 100 is connected to the equipment body. The specific structure of the novel diagnosis and treatment device 100 refers to the aforementioned embodiment. Since the present diagnosis and treatment system adopts all the technical solutions of all the aforementioned embodiments, it has at least all the beneficial effects brought by the technical solutions of the aforementioned embodiments, which will not be described one by one here.

It can be understood that the equipment body of the diagnosis and treatment system includes a flexible connecting tube, a drive integrated box, etc., and the base 1 of the new diagnosis and treatment device 100 is connected to the drive integrated box through a flexible connecting tube. There are connecting wires such as a lasso, a camera connecting wire, and a reserved functional sleeve between the new diagnosis and treatment device 100 and the drive integrated box. These connecting wires are bundled and built into the flexible connecting tube, etc., which are not limited here.

The above description is only an optional embodiment of the present application, and does not limit the patent scope of the present application. All equivalent structural changes made based on the concept of the present application and the contents of the present application description and drawings, or direct/indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims (12)

A novel diagnostic and treatment device, wherein the novel diagnostic and treatment device comprises: matrix; A flexible structure, wherein the flexible structure comprises at least one elastic unit, each of the elastic units comprises two connecting members and at least two branches, the at least two branches are arranged in parallel, and the two ends of the at least two branches are respectively connected by the connecting members, and one end of the flexible structure is connected to the base through one of the connecting members; and A functional component, wherein the other end of the flexible structure is connected to the functional component via a connecting member; The novel diagnostic and treatment device has a first state in which the axial direction of the flexible structure is parallel to the axial direction of the substrate and a second state in which the axial direction of the flexible structure is not parallel to the axial direction of the substrate; In the first state, the branches of at least one of the elastic units are extended or contracted simultaneously; In the second state, the branch of at least one of the elastic units can be deformed and bent. The novel diagnostic and treatment device as claimed in claim 1, wherein each of the elastic units comprises a plurality of the branches, and two ends of the plurality of the branches are respectively connected by a connecting member; The multiple branches are arranged in parallel and spaced apart along a straight line; or, the multiple branches are arranged in parallel and spaced apart along an arc; or, the multiple branches are arranged in parallel and spaced apart in a circle or annular shape. The new diagnostic and treatment device as described in claim 1, wherein each of the branch chains is arranged in a cylindrical shape with openings at both ends, and each of the connecting pieces is provided with a limiting protrusion at the opening corresponding to each of the branch chains, and the limiting protrusion is accommodated and limited in the opening so that one end of a plurality of the branch chains is connected to one of the connecting pieces. The novel diagnostic and treatment device as claimed in claim 3, wherein each of the branches comprises: An elastic support body, wherein the elastic support body has a cavity; An elastic film, the elastic film being coated on the outer side of the elastic support body; and A reinforcing layer is embedded in the elastic film. The novel diagnostic and treatment device as described in claim 4, wherein the elastic film comprises a first flexible elastic film and a second flexible elastic film which are stacked, and the reinforcing layer is sandwiched between the first flexible elastic film and the second flexible elastic film. The novel diagnostic and treatment device according to claim 5, wherein the reinforcement layer is a strain-limiting material or structure; Or, the reinforcement layer is formed by fibers, threads or ropes spirally wound around the first flexible elastic film; Alternatively, the reinforcement layer includes two fibers, threads or ropes, and the two fibers, threads or ropes are spirally wound on the first flexible elastic film with a phase difference of 180°. The novel diagnostic and treatment device according to claim 4, wherein the elastic support body is arranged in a spiral structure; And/or, the elastic support body is a spring; And/or, the elastic film is made of at least one of PDMS, silicone rubber, Shore A-10 silicone resin, and silicone resin material. The novel diagnostic and treatment device according to claim 4, wherein each of the limiting protrusions is provided with a limiting groove, and the end of the elastic support body is limited in the limiting groove; And/or, the limiting protrusion is provided with a fixing hole, the end of the elastic support body is provided with a fixing column, and the fixing column is inserted into the fixing hole; And/or, the connecting member is provided with a through hole corresponding to the cavity of each branch chain, and the through hole passes through the limiting protrusion; And/or, each of the connecting members is provided with a wire passing hole, and the plurality of branch chains are arranged around the wire passing hole, so that the plurality of branch chains enclose and form a wire passing cavity connected to the wire passing hole. The new diagnostic and treatment device as described in any one of claims 1 to 8, wherein the flexible structure includes a plurality of the elastic units, and two adjacent elastic units are connected by the connecting member so that the plurality of the elastic units are arranged in series. The novel diagnostic and treatment device as claimed in claim 9, wherein two adjacent elastic units are connected by a connecting member; Alternatively, two adjacent elastic units are detachably connected via two connecting members. The novel diagnostic and treatment device according to any one of claims 1 to 8, wherein the base is a rigid or flexible tube, one end of the tube is provided with a limiting hole, the connecting piece at one end of the elastic unit is provided with a fixing protrusion, and the fixing protrusion is penetrated into the limiting hole so that the connecting piece is connected to the tube; And/or, the connector is a rigid connector or a hard connector; And/or, the functional components include at least one of an imaging system, ultrasound, a targeted treatment head, an endoscope, scissors, and tissue forceps. A diagnosis and treatment system, wherein the diagnosis and treatment system comprises an equipment body and a new diagnosis and treatment device as described in any one of claims 1 to 11, wherein a base of the new diagnosis and treatment device is connected to the equipment body.